Abstract
The main goal of this research is to design an Inertial Navigation System (INS) which can effectively position a user by using a monocular camera with fiducial markers. People have become accustom to the ease of navigating with Global Navigation Satellite Systems (GNSS) but the system fails indoors when signals degrade. This paper describes the work in progress of the system design, the algorithms in particular, to provide reasonably accurate, precise and reliable indoor navigation.